A mininal review on outdoor 3D reconstruction

I am gonna review some paper on 3D reconstruction, both to

• know some critical technics for FYP, and
• find out the answer to the question in the inverview

Large-Scale Multi-Resolution Surface Reconstruction from RGB-D Sequences

ICCV 13

octtree, surface as a signed distance function

error in pose graph construction: error defined on images and depth informations

• error ~ t-dist.

keyframe

• entropy introduced
  • also used for loop closures

Dense Visual SLAM for RGB-D Cameras

IROS 13

min geometric error

• ICP
• prone to drift if only odometry constraint considered
• similar to above…really?
  • and same author…what?
• also t-dist.

Unsupervised Learning of Threshold for Geometric Verification in Visual-Based Loop-Closure

ICRA 14

two log-Gaussian model for T/F positive loop-closures

• has emperical clue for this

Robust Reconstruction of Indoor Scenes

CVPR 15

a weight for each loop-clousures

• with prior/regulization: more loop-closures are better